Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p7162.html

Hi gian,

By default rtabmap updates at 1 Hz. When receiving raw images, it can rectify them only when it updates, so at 1 Hz.

For F2M odometry, we need to process as many images as possible, at camera frame rate. Images should be rectified, so if camera is publishing at 30 Hz or 60 Hz, we rectify images at 30 or 60 Hz.

cheers,
Mathieu